KR101781041B1 - Radar apparatus for vehicle, Driver assistance apparatus and Vehicle - Google Patents

Abstract

The present invention relates to a transmission apparatus, A reception unit for acquiring a reception signal in which the transmission signal is reflected on an object; And a processor for varying the cycle time according to the object detection purpose upon detection of the object based on the received signal to provide the object information.

Description

TECHNICAL FIELD [0001] The present invention relates to a radar apparatus, a vehicle driving assistance apparatus,

The present invention relates to a radar apparatus, a vehicle driving assistance system, and a vehicle provided in a vehicle.

A vehicle is a device that moves a user in a desired direction by a boarding user. Typically, automobiles are examples.

On the other hand, for the convenience of users who use the vehicle, various sensors and electronic devices are provided. In particular, various devices for the user's driving convenience have been developed.

Recently, as interest in autonomous vehicles increases, researches on sensors mounted on autonomous vehicles are actively under way. There are cameras, infrared sensors, radar, GPS, lidar, and gyroscope that are mounted on autonomous vehicles, and radar is an important sensor for object detection.

On the other hand, according to the related art, the radar provided in the vehicle has a problem in that when the object is detected, the data is processed uniformly within the same cycle time irrespective of the object detection purpose. Due to these problems, it was not possible to respond immediately to ineffective data processing in an emergency situation.

An object of the present invention is to provide a radar device for providing object information by varying a cycle time according to an object detection purpose in order to solve the above problems.

Further, it is an object of the present invention to provide a vehicle driving assistance system including the radar device.

It is also an object of the present invention to provide a vehicle including the radar apparatus or the vehicle driving assistance system.

The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a radar apparatus comprising: a transmitter for transmitting a transmission signal; A reception unit for acquiring a reception signal in which the transmission signal is reflected on an object; And a processor for varying the cycle time according to the object detection purpose upon detection of the object based on the received signal to provide the object information.

According to another aspect of the present invention, there is provided a vehicle driving assistance system for transmitting a transmission signal, acquiring a reception signal in which the transmission signal is reflected on an object, detecting, on the basis of the reception signal, A vehicle radar device for varying time to provide the object information; And a control unit for receiving the object information and providing a signal for controlling at least one of the power source driving unit, the steering driving unit, and the brake driving unit, or for outputting an alarm.

The details of other embodiments are included in the detailed description and drawings.

According to an embodiment of the present invention, there is one or more of the following effects.

First, since the data is processed by varying the cycle time according to the object detection purpose, there is an effect that object information suitable for the situation can be provided and coped with accordingly.

Second, there is an effect that data processing and information transmission can be performed quickly without delay.

Third, the power efficiency is improved by adaptively managing the cycle time.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

1 is a view showing an appearance of a vehicle according to an embodiment of the present invention.
2 to 3 are block diagrams of a radar apparatus according to an embodiment of the present invention.
3 is a flowchart of the operation of the radar apparatus according to the embodiment of the present invention.
4 is a diagram for explaining an example of a transmission signal according to an embodiment of the present invention.
5 is a diagram illustrating a transmission frequency and a reception frequency according to an embodiment of the present invention.
6 is a diagram referred to explain bit frequencies according to an embodiment of the present invention.
7 is a diagram for explaining the principle of distance and velocity detection using a bit frequency according to an embodiment of the present invention.
8 is a flowchart referred to explain the operation of the radar apparatus according to the embodiment of the present invention.
9 is a block diagram of a vehicle driving assistance system according to an embodiment of the present invention.
10 is a block diagram of a vehicle according to an embodiment of the present invention.
11 to 12 are drawings referred to explain the AEB of the vehicle driving assistance system according to the embodiment of the present invention.
13 to 14 are drawings referred to explain ACC of a vehicle driving assistance system according to an embodiment of the present invention.
15 to 16 are drawings referred to explain the CTA of the vehicle driving assistance system according to the embodiment of the present invention.
17 to 18 are drawings referred to explain the LCA of the vehicle driving assist system according to the embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The vehicle described herein may be a concept including a car, a motorcycle. Hereinafter, the vehicle will be described mainly with respect to the vehicle.

The vehicle described in the present specification may be a concept including both an internal combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as a power source, and an electric vehicle having an electric motor as a power source.

In the following description, the left side of the vehicle means the left side in the running direction of the vehicle, and the right side of the vehicle means the right side in the running direction of the vehicle.

1 is a view showing an appearance of a vehicle according to an embodiment of the present invention.

1, the vehicle 700 includes wheels 103FR, 103FL, 103RL, ... rotated by a power source, steering input means 721a for adjusting the traveling direction of the vehicle 700, 700 may be equipped with at least one radar device 100.

In Fig. 1, the radar apparatus 100 is illustrated as being attached in a single unit in front of the vehicle, but may be attached in plural, or may be attached to the rear or side of the vehicle.

The radar apparatus 100 according to the present embodiment preferably uses a frequency modulated continuous wave (FMCW) method.

2 to 3 are block diagrams of a radar apparatus according to an embodiment of the present invention.

2, the radar apparatus may include a transmitter 110, a receiver 120, a memory 140, an interface 150, a processor 180, and a power supply 190.

The transmission unit 110 transmits a transmission signal. Transmitter 110 may include an oscillator, a transmit amplifier, and a transmit antenna 115.

The oscillator is a oscillation element such as a VCO (Voltage Control Oscillator) and can generate a signal. Meanwhile, according to the embodiment, a plurality of oscillators may be provided.

For example, an oscillator can generate a waveform of a frequency modulated continuous wave (FMCW) or a waveform of a mono pulse. For example, when a plurality of oscillators are provided, the first oscillator may generate a waveform of a Frequency Modulated Continuous Wave (FMCW), and the second oscillator may generate a waveform of a mono pulse.

The transmission amplifier includes an amplification circuit, and can amplify the signal generated in the oscillator.

The transmission antenna 115 transmits a signal generated by the oscillator or a signal amplified by the transmission amplifier.

The transmitting unit 110 may further include a triangle wave generator according to the embodiment.

The receiving unit 120 acquires a received signal. Here, the received signal is a signal in which the transmitted signal is reflected back to the object.

The receiving unit 120 may include a receiving antenna 125, a mixer, an amplifier, and a filter.

The receiving antenna 125 can receive the receiving signal in which the transmitting signal is reflected on the object.

The receiving antenna 125 may be plural. For example, the reception antenna 125 may include an antenna (LRR: Long Range Radar) for receiving signals from a long distance, an antenna (MRR: Mid Range Radar) for receiving signals from a medium distance, And an antenna (SRR: Short Range Radar). According to an embodiment, the antenna (LRR) for receiving a signal from a remote location may comprise a plurality of antennas. Further, the antenna (MRR) for receiving signals from the medium range may include a plurality of antennas. Further, the antenna (SLL) for receiving a signal from a close range may include a plurality of antennas.

The mixer may output the difference between the two signals by correlating the signal generated by the oscillator and the signal received by the first receiving antenna 125. [

The filter can filter the received signal from the mixer.

The receive amplifier may amplify the signal received at the receive antenna 125, the mixer, or the signal received at the filter.

Meanwhile, the receiving unit 120 may include a first receiving unit and a second receiving unit. The first receiving unit and the second receiving unit may include the above-described receiving antenna, mixer, filter, and receiving amplifier, respectively. In this case, the first receiving unit can acquire the first receiving signal. And the second receiver can acquire the second received signal.

On the other hand, the processor 180 can calculate a first angle based on the first reception antenna and the first reception antenna on the basis of the first reception signal. Further, the processor 180 may calculate a second angle based on the second reception signal, in which the transmission antenna 115 and the second reception antenna are centered on the object. Further, the processor 180 can calculate the third angle based on the phase difference between the first and second received signals. Here, the third angle may be an angle formed by an imaginary center line extending vertically toward the direction of the first or second receiving antenna and an imaginary line connecting the object at the first or second receiving antenna. When the first and second reception signals are acquired by the first and second reception units, the processor 180 receives the first reception antenna and the second reception antenna from the object when the transmission signal transmitted from the transmission unit 110 is reflected on the object, The third angle can be calculated by using the phase difference generated by the path difference according to the distance to the third angle.

The processor 180 can determine the position of the object by comparing the first to third angles. The processor 180 can compare the first to third angles and determine an angle of the object deviated leftward or rightward with respect to a virtual center line extending vertically from the transmitting antenna 115 toward the dispensing direction. According to an embodiment, the processor 180 may determine the position of the object by comparing only the first and second angles.

The memory 140 may store various data for operation of the entire radar apparatus 100, such as a program for processing or controlling the processor 180. [ The memory 140 may be, in hardware, various storage devices such as ROM, RAM, EPROM, flash drive, hard drive, and the like.

The interface unit 150 may serve as a path for exchanging data with a device connected to the radar device 100. The interface unit 150 may receive data from an electrically connected unit and may transmit signals processed or generated by the processor 180 to an electrically connected unit. The interface unit 150 may serve as a path for exchanging data with the control unit 270 of the vehicle driving assist system 200 or the ECU 770 of the vehicle 700.

The interface unit 150 can receive information or data from the control unit 270 of the vehicle driving assist system 200. [ For example, the interface unit 150 can receive the expected collision time information from the control unit 270. [ For example, the interface unit 150 can receive the distance information held with the object from the control unit 270. [

The processor 180 can control the overall operation of each unit in the radar apparatus 100. [

The processor 180 may be implemented in hardware as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs) processors, controllers, micro-controllers, microprocessors, and other electronic units for performing other functions.

The operation of calculating the relative distance to the object and the relative speed with respect to the object will be described with reference to Figs. 4 to 7. Fig.

4 is a diagram for explaining an example of a transmission signal according to an embodiment of the present invention.

Referring to FIG. 4, the radar apparatus 100 according to the embodiment of the present invention can transmit a triangular wave frequency modulated continuous wave as shown in FIG.

The signal transmitted in the form of FIG. 4 is reflected on the object, and the radar device 100 acquires the reception signal reflected on the object.

The radar apparatus 100 calculates a frequency (hereinafter referred to as a "bit frequency") spectrum of a beat signal (for example, a time-domain signal representing the difference between the frequency of the received signal and the frequency of the transmitted signal) And obtain distance information and velocity information with respect to the object. Here, fc is the center frequency, f0 is the start frequency, B is the modulation bandwidth, and Tm is the modulation period.

5 is a diagram illustrating a transmission frequency and a reception frequency according to an embodiment of the present invention.

5A is a diagram showing a relationship between a frequency of a transmission signal (hereinafter referred to as a transmission frequency) and a frequency of a reception signal (hereinafter referred to as a reception frequency) on a time axis. When the object approaches the radar device, Figure 5c shows when the object is away from the radar device.

Here, td is a delay time between the transmission signal and the reception signal, and is determined by the distance between the object and the radar device.

6 is a diagram referred to explain bit frequencies according to an embodiment of the present invention.

6A and 6B are diagrams showing the relationship between the frequency of the transmission signal and the frequency of the reception signal and the bit frequency according to the frequency, on the time axis. FIG. 6A is a diagram illustrating a static situation shown in FIG. 5A, FIG. It corresponds to a dynamic situation. Here, the bit frequency fb is obtained as a difference between the transmission frequency and the reception frequency.

In the static situation as shown in FIG. 6A, the bit frequency is determined by the delay time depending on the distance between the object and the radar device, whereas in the dynamic situation as shown in FIG. 6B, since the relative speed between the object and the radar device changes, Since the phenomenon occurs, the bit frequency is a combination of the distance bit frequency fr and the Doppler frequency fd. Therefore, fbu and fbd shown in Fig. 3B are composed of a combination of fr and fd.

7 is a diagram for explaining the principle of distance and velocity detection using a bit frequency according to an embodiment of the present invention.

The beat frequency includes an up-beat frequency corresponding to an up chirp and a down-beat frequency corresponding to a down chirp. The up beat frequency and the down beat frequency include frequency shifts by the distance of the moving target and the relative speed. These components are referred to as a range beat frequency and a Doppler frequency, respectively. The up bit frequency and the down bit frequency can be represented by a combination of a distance bit frequency and a Doppler frequency as shown in Equations (1) and (2) have.

Equation 1

fbu = fr + fd

Equation 2

fbd = fr - fd

fbu is the up-bit frequency, fbd is the down-bit frequency, fr is the distance bit frequency, and fd is the Doppler frequency

A negative Doppler frequency indicates that the object is approaching the radar device 100, and a positive Doppler frequency indicates that the object is moving away from the radar device 100. As a result, the distance to the object and the velocity can be calculated using the distance bit frequency and the Doppler frequency, respectively.

2, the processor 180 can detect an object based on the received signal acquired by the receiving unit 120. [ Specifically, the processor 180 can detect the up-bit frequency and the down-bit frequency based on the received signal obtained by the receiving unit 120. [ The processor 180 may calculate the distance bit frequency and the Doppler frequency based on the up beat frequency and the down beat frequency. The processor 180 may obtain relative distance information and relative velocity information with the object based on the distance bit frequency and the Doppler frequency. In this case, the processor 180 can acquire the distance information and the speed information through a mathematical expression for obtaining the distance and velocity with respect to the object in the frequency-modulated continuous wave (FMCW) radar.

The processor 180 can provide the object information by varying the cycle time according to the object detection purpose. The object information may be provided to the control unit 270 of the vehicle driving assist system 200 or the ECU 770 of the vehicle 700. [

The object detection purpose can be determined according to which of the plurality of vehicle driving assist systems, the detected object information is used.

The vehicle 700 may include a plurality of vehicle driving assistance systems. Herein, the ADAS (Advanced Driver Assistance System) is a system in which an automatic emergency braking (AEB), an adaptive cruise control (ACC), a side access vehicle warning system A lane change assistant (LCA), a forward collision avoidance system (FCW), a lane departure warning (LDW) A Lane Keeping Assist (LKA), a Speed Assist System (SAS), a Traffic Sign Recognition (TSR), an Adaptive Upstream Light Control (hereinafter referred to as an HBA Blind Spot Detection (BSD), Autonomous Emergency Steering (AES), and Curve Speed Warning System (hereinafter referred to as CSWS) A Curve Speed Warning System, a Smart Parking Assist System (SPAS), a Traffic Jam Assist (TJA) and an Around View Monitor (AVM) .

In the following description, AEB, ACC, CTA, and LCA are mainly described, but it should be noted that other vehicle driving assistance systems including a radar device may fall within the scope of the present invention.

The processor 180 can continuously detect an object in a cycle of the cycle time. Here, the cycle time may be a processing time from when a transmission signal is transmitted to when object information is provided. During one cycle time, the processor 180 transmits the transmission signal through the transmission unit 110, acquires the reception signal through the reception unit 120, processes the reception signal to generate object information, And provides the object information to the control unit 270 or the ECU 770 through the control unit 150. [

On the other hand, the processor 180 may vary the next cycle time based on the object information obtained during the previous cycle time. For example, the processor 180 may reduce or increase the next cycle time based on the relative distance to the object obtained during the previous cycle time, the relative speed with the object, or the orientation of the object.

The processor 180 can set a relative distance range and a relative speed range required depending on the object detection purpose from among the entire relative distance range and the entire relative speed range that can be calculated based on the reception signal acquired by the reception unit 120. [ In this case, the processor 180 may process the data in the set relative distance range and relative speed range to provide object information. As described above, by processing data within a specified range, the data processing speed can be improved. Due to the improved data processing speed, the corresponding speed of the vehicle driving assist system 200 or the vehicle 700 according to an urgent situation can be accelerated.

The processor 180 can control the number of antennas or the type of the antenna for receiving the reception signal among the plurality of reception antennas to be variable according to the object detection purpose.

For example, the processor 180 may include an antenna (LRR: Long Range Radar) for receiving a signal from a long distance, an antenna (MRR: Mid Range Radar) for receiving a signal from a medium distance, It is possible to select only an antenna for receiving a signal from a short range among an antenna (SRR: Short Range Radar) for receiving a signal to obtain a received signal.

For example, the processor 180 may select only a part of an antenna (SRR: Short Range Radar) for receiving signals from a plurality of short-range positions to obtain a received signal. In the case of object detection located near, it is advantageous to prioritize the information processing speed over the accuracy of the information. Therefore, in an emergency situation, when detecting an object located in a short distance, only a part of an antenna (SRR: Short Range Radar) for receiving a signal from a plurality of short distances is selected to obtain a received signal, .

On the other hand, according to the embodiment, the processor 180 can control the cycle time to be variable based on the running speed of the vehicle 700. [ For example, when the vehicle 700 travels at a high speed of 100 km / h or more, the radar apparatus 100 must detect objects located relatively far away. In addition, when the vehicle 700 travels at a low speed of 50 km / h or less, the radar apparatus 100 must detect an object with a short distance center. In this case, the processor 180 may adjust the cycle time based on the traveling speed.

On the other hand, the object information may include relative distance information between the vehicle 700 and the object, relative speed information between the vehicle 700 and the object, and direction information of the object.

The power supply unit 190 can supply power necessary for operation of each unit under the control of the processor 180. [ Particularly, the power supply unit 190 can receive power from a battery or the like inside the vehicle 500.

3 further includes a position sensing unit 170 and an orientation adjusting unit 175 as compared to the radar device 100 of FIG. Hereinafter, the attitude sensing unit 150 will be mainly described.

The posture sensing unit 170 may sense the posture of the radar device 100. [ The radar device 100 must take a proper attitude to transmit a transmission signal toward an object located at the front, rear, or side of the vehicle and obtain a reception signal reflected by the object. When the attitude of the radar apparatus 100 changes due to an external impact or the like, the attitude sensing unit 170 senses a change in the attitude of the radar apparatus 100.

The attitude sensing unit 170 may include at least one of an infrared sensor, a bolt tightening sensor (for example, a Bolt Magnet sensor), and a gyro sensor for sensing the attitude of the radar device 100.

The posture adjusting unit 175 adjusts the posture of the radar device 100 based on the posture sensed by the posture sensing unit 170. [ The attitude adjusting unit 175 includes driving means such as a motor and adjusts the attitude of the radar device 100 so as to be suitable for transmission of a transmission signal and acquisition of a reception signal under the control of the processor 180. [

The processor 180 receives the attitude information detected by the attitude sensing unit 170. [ The processor 180 controls the posture adjusting unit 175 based on the received posture information.

According to the embodiment, the processor 180 can control the direction and size of the beam in the transmitted signal while maintaining the attitude of the radar device 100. [ The transmit antenna 115 may be comprised of a plurality of patch antennas and the processor 180 may control the output of each patch antenna to control the direction and magnitude of the overall transmit beam. In this case, the same effect as that of adjusting the posture of the radar device 100 can be generated. In a similar manner, the processor 180 may control the receive antenna 125.

The processor 180 may control the controller 270 of the vehicle driving assist system or the vehicle 150 via the interface unit 150 when a change in the posture of the antenna apparatus 100 sensed through the posture sensing unit 170 occurs. Related information to the ECU 770 of the vehicle. In this case, the controller 270 or the ECU 770 can output the posture change information of the antenna device 100 so that the user can recognize the posture change information.

8 is a flowchart referred to explain the operation of the radar apparatus according to the embodiment of the present invention.

Referring to FIG. 8, the processor 180 may vary the cycle time according to the object detection purpose (S410) (S420). Here, the variable cycle time can be applied at the next object detection.

On the other hand, the processor 180 can maintain the cycle time according to the object detection purpose (S410) (S430).

The object detection purpose can be determined according to which of the plurality of vehicle driving assist systems, the detected object information is used.

The processor 180 can continuously detect an object in a cycle of the cycle time. Here, the cycle time may be a processing time from when a transmission signal is transmitted to when object information is provided.

The processor 180 can transmit the transmission signal through the transmission unit 110 (S440).

The processor 180 may acquire the received signal through the receiving unit 120 (S450). Here, the received signal is a signal in which the transmitted signal is reflected back to the object.

The processor 180 may process the received signal to generate object information (S460).

Here, the object information may include relative distance information between the vehicle 700 and the object, relative speed information between the vehicle 700 and the object, and direction information of the object. The processor 180 can detect the up-bit frequency and the down-bit frequency based on the reception signal obtained by the receiver 120. [ The processor 180 may calculate the distance bit frequency and the Doppler frequency based on the up beat frequency and the down beat frequency. The processor 180 may obtain relative distance information and relative velocity information with the object based on the distance bit frequency and the Doppler frequency. In this case, the processor 180 can acquire the distance information and the speed information through a mathematical expression for obtaining the distance and velocity with respect to the object in the frequency-modulated continuous wave (FMCW) radar.

The processor 180 may provide the object information to the control unit 270 or the ECU 770 through the interface unit 150 (S470).

While the radar device 100 is continuously operated, the processor 180 repeats steps S410 through S470 (S480).

9 is a block diagram of a vehicle driving assistance system according to an embodiment of the present invention.

9, the vehicle driving assist system 200 includes a radar device 100, a camera 195, a distance sensor 250, an input unit 210, a communication unit 220, an interface unit 230, A control unit 270, a display 280, an audio output unit 285, and a power supply unit 290. In addition,

Meanwhile, the vehicle driving assist system 200 may include AEB, ACC, CTA, LCA, FCW, LDW, LKA, SAS, TSR, HBA, BSD, AES, CSWS, SPAS, TJA and AVM.

The radar apparatus 100 may be the radar apparatus described with reference to Figs. 1 to 8. Fig.

The radar apparatus 100 can transmit a transmission signal through the transmission unit 110. [ The radar apparatus 100 can acquire a received signal through the receiving unit 120. [ Here, the received signal may be a signal in which the transmitted signal is reflected on the object. The processor 180 of the radar apparatus 100 can provide the object information by varying the cycle time according to the object detection purpose upon object detection based on the received signal.

The camera 195 acquires a vehicle front image or a vehicle periphery image. The camera 195 may be a mono camera or a stereo camera 195a, 195b for shooting the vehicle front image. Alternatively, the camera 195 may be an ambient view camera 195d, 195e, 195f, or 195g that photographs the surroundings of the vehicle.

The camera 195 may include an internal camera 195c. The internal camera 195c can photograph the interior of the vehicle 700. [ The internal camera 195c is preferably disposed in the cockpit module.

The internal camera 195c can acquire an image of the passenger.

The internal camera 195c can acquire an image of the passenger in the vehicle 700 and detect how many passengers are on board.

The camera 195 may include an image sensor (e.g., CMOS or CCD) and an image processing module.

The distance detection sensor 250 can sense the distance to the object. The distance detection sensor 250 may include an ultrasonic sensor 251 and a rider 252.

The input unit 210 may include a vehicle driving assist system 200, a plurality of buttons, or a touch screen. It is possible to turn on and operate the vehicle driving assist system 200 via a plurality of buttons or a touch screen. In addition, it is also possible to perform various input operations.

The communication unit 220 can exchange data with the mobile terminal 600, the server 601, or the other vehicle 602 in a wireless manner. In particular, the communication unit 220 can exchange data with the mobile terminal of the vehicle driver wirelessly. Various data communication methods such as Bluetooth, WiFi Direct, WiFi, APiX, and NFC are available for wireless data communication.

The communication unit 220 can receive weather information and traffic situation information of the road, for example, TPEG (Transport Protocol Expert Group) information from the mobile terminal 600 or the server 601. [ Meanwhile, the vehicle driving assist system 200 may transmit the detected real time information to the mobile terminal 600 or the server 601. [

On the other hand, when the user is boarding the vehicle, the user's mobile terminal 600 and the vehicle driving assist system 200 can perform pairing with each other automatically or by execution of the user's application.

The communication unit 220 can receive the traffic light change information from the external server 601. [ Here, the external server 601 may be a server located in a traffic control station that controls traffic.

The interface unit 230 may receive the vehicle-related data or may transmit the processed or generated signal to the outside by the control unit 270. To this end, the interface unit 230 performs data communication with the ECU 770, the vehicle display device 400, the sensing unit 760, the vehicle drive unit 750, and the like in the vehicle by a wire communication or a wireless communication method can do.

The interface unit 230 can receive the navigation information by data communication with the ECU 770, the vehicle display device 400, or another navigation device. Here, the navigation information may include set destination information, route information according to the destination, map information related to driving the vehicle, and current position information of the vehicle. On the other hand, the navigation information may include position information of the vehicle on the road.

On the other hand, the interface unit 230 can receive sensor information from the ECU 770 or the sensing unit 760.

Here, the sensor information includes at least one of vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / backward information, battery information, fuel information, Information on the inside temperature of the vehicle, information on the inside humidity of the vehicle, and information on whether or not it is rain.

Such sensor information may include a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward / backward sensor, a wheel sensor, a vehicle speed sensor, A vehicle body inclination sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a vehicle interior temperature sensor, a vehicle interior humidity sensor, a rain sensor, and the like. On the other hand, the position module may include a GPS module for receiving GPS information.

On the other hand, among the sensor information, the vehicle direction information, the vehicle position information, the vehicle angle information, the vehicle speed information, the vehicle tilt information, and the like relating to the vehicle running can be referred to as vehicle running information.

The interface unit 230 can provide a signal to the ECU 770 or the vehicle drive unit 750. [ Here, the signal may be a control signal. For example, the control unit 270 can provide the acceleration control signal to the ECU 770 or the power source driving unit 751 through the interface unit 230. [ For example, the control unit 270 can provide the steering control signal to the ECU 770 or the steering drive unit 752 through the interface unit 230. [ For example, the control unit 270 can provide the brake control signal to the ECU 770 or the brake driving unit 753 through the interface unit 230. [

The memory 240 may store various data for operation of the vehicle driving assist system 200, such as a program for processing or controlling the control unit 270. [

The memory 240 may store data for object identification. For example, when a predetermined object is detected in the image obtained through the camera 195, the memory 240 may store data for confirming what the object corresponds to according to a predetermined algorithm.

The memory 240 may store data on traffic information. For example, when predetermined traffic information is detected in the image obtained through the camera 195, the memory 240 may store data for checking what the traffic information corresponds to by a predetermined algorithm have.

Meanwhile, the memory 240 may be various storage devices such as a ROM, a RAM, an EPROM, a flash drive, a hard drive, and the like in hardware.

The control unit 270 controls the overall operation of each unit in the vehicle driving assist system 200.

The control unit 270 may process the vehicle front image or the vehicle periphery image obtained by the camera 195. [ In particular, the control unit 270 performs signal processing based on computer vision. Accordingly, the control unit 270 can acquire an image of the front of the vehicle or the surroundings of the vehicle from the camera 195, and perform object detection and object tracking based on the image. Particularly, when the object is detected, the control unit 270 may detect a lane detection (LD), a vehicle detection (VD), a pedestrian detection (PD), a light detection (Brightspot Detection) Traffic sign recognition (TSR), road surface detection, and the like.

The control unit 270 can detect information in the vehicle front image or the vehicle periphery image obtained by the camera 195. [

The information may be information on the driving situation of the vehicle. For example, the information may be a concept including road information, traffic regulation information, surrounding vehicle information, vehicle or pedestrian signal information, construction information, traffic situation information, parking lot information, lane information, etc., which the vehicle travels.

The control unit 270 can compare the detected information with the information stored in the memory 240 to confirm the information.

Meanwhile, the control unit 270 can receive weather information and road traffic situation information, for example, TPEG (Transport Protocol Expert Group) information, through the communication unit 220. [

Meanwhile, the control unit 270 can grasp, in real time, the traffic situation information about the vehicle, which is based on the image, in the vehicle driving assist system 200.

The control unit 270 can receive navigation information and the like from the vehicle display device 400 or another navigation device (not shown) through the interface unit 230. [

The control unit 270 can receive the sensor information from the ECU 770 or the sensing unit 760 through the interface unit 230. [ Here, the sensor information includes at least one of vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / backward information, battery information, fuel information, Lamp information, vehicle interior temperature information, vehicle interior humidity information, and steering wheel rotation information.

On the other hand, the control unit 270 can acquire an image including the object through the camera 195, and can detect the relative distance and the relative speed with the object through the obtained image. For example, the control unit 270 tracks an object in an image in accordance with the movement of the vehicle 700, and calculates a relative distance to the object based on the variation amount of the object (for example, the size of the object) The relative speed can be detected.

For example, when the camera 195 is a stereo camera, the control unit 270 can detect the relative distance and the relative speed with the object through the disparity difference of the obtained stereo image.

The control unit 270 can receive the object information from the radar device 100. [ The controller 270 may provide a signal for controlling at least one of the power source driver 751, the steering driver 752, and the brake driver 753 based on the received object information. At this time, the signal may be provided to the vehicle drive unit 750 via the ECU 770. [ Alternatively, the signal may be provided directly to the vehicle drive unit 750.

The control unit 270 can control the alarm output through the audio output unit 285 or the display 280. [ For example, when the detected object comes within a predetermined distance, the control unit 270 can output an alarm.

The controller 270 may be implemented as an application specific integrated circuit (ASIC), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs) May be implemented using at least one of controllers, micro-controllers, microprocessors, and electrical units for performing other functions.

The control unit 270 can be controlled by the ECU 770. [

The display 280 can display various kinds of information processed by the control unit 270. The display 280 may display an image related to the operation of the vehicle driving assist system 200. For this image display, the display 280 may include a cluster or HUD (Head Up Display) on the inside of the vehicle interior. On the other hand, when the display 280 is the HUD, it may include a projection module for projecting an image on the windshield of the vehicle 700. [

The audio output unit 285 can output the sound to the outside based on the audio signal processed by the control unit 270. [ To this end, the audio output unit 285 may include at least one speaker.

An audio input unit (not shown) can receive a user's voice. For this purpose, a microphone may be provided. The received voice can be converted into an electric signal and transmitted to the control unit 270.

The power supply unit 290 can supply power necessary for the operation of each component under the control of the control unit 270. [ Particularly, the power supply unit 290 can receive power from a battery or the like inside the vehicle.

10 is a block diagram of a vehicle according to an embodiment of the present invention.

10, the vehicle 700 includes a communication unit 710, an input unit 720, a sensing unit 760, an output unit 740, a vehicle driving unit 750, a memory 730, an interface unit 780, An ECU 770, a power supply unit 790, a vehicle driving assist system 200, and a vehicle display device 400. [

The communication unit 710 is connected to the communication unit 710 and the communication unit 710. The communication unit 710 is configured to communicate with the vehicle 700 and the mobile terminal 600, Modules. In addition, the communication unit 710 may include one or more modules that connect the vehicle 700 to one or more networks.

The communication unit 710 may include a broadcast receiving module 711, a wireless Internet module 712, a local communication module 713, a location information module 714, an optical communication module 715, and a V2X communication module 716 have.

The broadcast receiving module 711 receives broadcast signals or broadcast-related information from an external broadcast management server through a broadcast channel. Here, the broadcast includes a radio broadcast or a TV broadcast.

The wireless Internet module 712 refers to a module for wireless Internet access, and may be embedded in the vehicle 700 or externally. The wireless Internet module 712 is configured to transmit and receive wireless signals in a communication network according to wireless Internet technologies.

Wireless Internet technologies include, for example, WLAN (Wireless LAN), Wi-Fi (Wireless Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA, WiBro World Wide Interoperability for Microwave Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), and Long Term Evolution-Advanced (LTE-A) (712) transmits and receives data according to at least one wireless Internet technology in a range including internet technologies not listed above. For example, the wireless Internet module 712 can exchange data with the external server 601 wirelessly. The wireless Internet module 712 can receive weather information and road traffic situation information (for example, TPEG (Transport Protocol Expert Group)) information from the external server 601. [

The short-range communication module 713 is for short-range communication and may be a Bluetooth ™, a Radio Frequency Identification (RFID), an Infrared Data Association (IrDA), an Ultra Wideband (UWB) It is possible to support near-field communication using at least one of Near Field Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct and Wireless USB (Universal Serial Bus)

The short-range communication module 713 may form short-range wireless communication networks to perform short-range communication between the vehicle 700 and at least one external device. For example, the short-range communication module 713 can exchange data with the mobile terminal 600 wirelessly. The short distance communication module 713 can receive weather information and traffic situation information of the road (for example, TPEG (Transport Protocol Expert Group)) from the mobile terminal 600. For example, when the user has boarded the vehicle 700, the user's mobile terminal 600 and the vehicle 700 can perform pairing with each other automatically or by execution of the user's application.

The position information module 714 is a module for obtaining the position of the vehicle 700, and a representative example thereof is a Global Positioning System (GPS) module. For example, when the vehicle utilizes a GPS module, it can acquire the position of the vehicle using a signal sent from the GPS satellite.

The optical communication module 715 may include a light emitting portion and a light receiving portion.

The light receiving section can convert the light signal into an electric signal and receive the information. The light receiving unit may include a photodiode (PD) for receiving light. Photodiodes can convert light into electrical signals. For example, the light receiving section can receive information of the front vehicle through light emitted from the light source included in the front vehicle.

The light emitting unit may include at least one light emitting element for converting an electric signal into an optical signal. Here, the light emitting element is preferably an LED (Light Emitting Diode). The optical transmitter converts the electrical signal into an optical signal and transmits it to the outside. For example, the optical transmitter can emit the optical signal to the outside through the blinking of the light emitting element corresponding to the predetermined frequency. According to an embodiment, the light emitting portion may include a plurality of light emitting element arrays. According to the embodiment, the light emitting portion can be integrated with the lamp provided in the vehicle 700. [ For example, the light emitting portion may be at least one of a headlight, a tail light, a brake light, a turn signal lamp, and a car light. For example, the optical communication module 715 can exchange data with another vehicle 602 via optical communication.

The V2X communication module 716 is a module for performing wireless communication with the server 601 or the other vehicle 602. V2X module 716 includes modules that can implement inter-vehicle communication (V2V) or vehicle-to-infrastructure communication (V2I) protocols. The vehicle 700 can perform wireless communication with the external server 601 and the other vehicle 602 via the V2X communication module 716. [

The input unit 720 may include a driving operation unit 721, a camera 195, a microphone 723, and a user input unit 724.

The driving operation means 721 receives a user input for driving the vehicle 700. [ The driving operation means 721 may include a steering input means 721a, a shift input means 721b, an acceleration input means 721c, and a brake input means 721d.

The steering input means 721a receives the input of the traveling direction of the vehicle 700 from the user. The steering input means 721a is preferably formed in a wheel shape so that steering input is possible by rotation. According to an embodiment, the steering input means 721a may be formed of a touch screen, a touch pad, or a button.

The shift input means 721b receives the input of parking (P), forward (D), neutral (N), and reverse (R) of the vehicle 700 from the user. The shift input means 721b is preferably formed in a lever shape. According to the embodiment, the shift input means 721b may be formed of a touch screen, a touch pad, or a button.

The acceleration input means 721c receives an input for acceleration of the vehicle 700 from the user. The brake input means 721d receives an input for decelerating the vehicle 700 from the user. The acceleration input means 721c and the brake input means 721d are preferably formed in a pedal shape. According to the embodiment, the acceleration input means 721c or the brake input means 721d may be formed of a touch screen, a touch pad, or a button.

The camera 195 may include an image sensor and an image processing module. The camera 195 may process still images or moving images obtained by an image sensor (e.g., CMOS or CCD). The image processing module processes the still image or moving image obtained through the image sensor, extracts necessary information, and transmits the extracted information to the ECU 770. Meanwhile, the vehicle 700 may include a camera 195 for photographing a vehicle front image or a vehicle periphery image, and an internal camera 195 for photographing an in-vehicle image.

The internal camera 195 can acquire an image of the passenger. The internal camera 195c can acquire an image for biometrics of the passenger.

7, the camera 195 is included in the input unit 720. However, as described with reference to FIGS. 1 to 9, the camera 195 includes the camera 195 in a configuration included in the vehicle driving assist system 200 May be explained.

The microphone 723 can process an external sound signal as electrical data. The processed data can be utilized variously according to functions performed in the vehicle 700. The microphone 723 can convert the voice command of the user into electrical data. The converted electrical data can be transmitted to the ECU 770.

The camera 722 or the microphone 723 may be a component included in the sensing unit 760 rather than a component included in the input unit 720. [

The user input unit 724 is for receiving information from a user. When information is input through the user input unit 724, the ECU 770 can control the operation of the vehicle 700 to correspond to the input information. The user input unit 724 may include touch input means or mechanical input means. According to an embodiment, the user input 724 may be located in one area of the steering wheel. In this case, the driver can operate the user input portion 724 with his / her finger while holding the steering wheel.

The sensing unit 760 senses a signal relating to the running of the vehicle 700 and the like. To this end, the sensing unit 760 may include a sensor, a wheel sensor, a velocity sensor, a tilt sensor, a weight sensor, a heading sensor, a yaw sensor, a gyro sensor, , A position module, a vehicle forward / backward sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by a steering wheel rotation, a vehicle internal temperature sensor, an internal humidity sensor, a rain sensor, , A light detector (LiADAR), and the like.

Thereby, the sensing unit 760 can acquire the vehicle collision information, vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, , Fuel information, tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, information on rain, and the steering wheel rotation angle.

In addition, the sensing unit 760 may include an acceleration pedal sensor, a pressure sensor, an engine speed sensor, an air flow sensor AFS, an intake air temperature sensor ATS, a water temperature sensor WTS, A position sensor (TPS), a TDC sensor, a crank angle sensor (CAS), and the like.

The sensing unit 760 may include a biometric information sensing unit. The biometric information sensing unit senses and acquires the biometric information of the passenger. The biometric information may include fingerprint information, iris-scan information, retina-scan information, hand geo-metry information, facial recognition information, Voice recognition information. The biometric information sensing unit may include a sensor for sensing passenger ' s biometric information. Here, the internal camera 195c and the microphone 723 can operate as sensors. The biometric information sensing unit can acquire the hand shape information and the face recognition information through the internal camera 195c.

The output unit 740 is for outputting information processed by the ECU 770 and may include a display unit 741, an acoustic output unit 742, and a haptic output unit 743. [

The display unit 741 can display information processed by the ECU 770. [ For example, the display unit 741 can display the vehicle-related information. Here, the vehicle-related information may include vehicle control information for direct control of the vehicle, or vehicle driving assistance information for a driving guide to the vehicle driver. Further, the vehicle-related information may include vehicle state information indicating the current state of the vehicle or vehicle driving information related to the driving of the vehicle.

The display unit 741 may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED) display, a 3D display, and an e-ink display.

The display unit 741 may have a mutual layer structure with the touch sensor or may be integrally formed to realize a touch screen. This touch screen may function as a user input 724 that provides an input interface between the vehicle 700 and the user and may provide an output interface between the vehicle 700 and the user. In this case, the display unit 741 may include a touch sensor that senses a touch with respect to the display unit 741 so that a control command can be received by a touch method. When a touch is made to the display unit 741, the touch sensor senses the touch, and the ECU 770 generates a control command corresponding to the touch based on the touch. The content input by the touch method may be a letter or a number, an instruction in various modes, a menu item which can be designated, and the like.

Meanwhile, the display unit 741 may include a cluster so that the driver can check the vehicle state information or the vehicle driving information while driving. Clusters can be located on the dashboard. In this case, the driver can confirm the information displayed in the cluster while keeping the line of sight ahead of the vehicle.

Meanwhile, according to the embodiment, the display unit 741 may be implemented as a Head Up Display (HUD). When the display unit 741 is implemented as a HUD, information can be output through a transparent display provided in the windshield. Alternatively, the display unit 741 may include a projection module to output information through an image projected on the windshield.

The sound output unit 742 converts an electric signal from the ECU 770 into an audio signal and outputs it. For this purpose, the sound output unit 742 may include a speaker or the like. It is also possible for the sound output section 742 to output a sound corresponding to the operation of the user input section 724. [

The haptic output unit 743 generates a tactile output. For example, the haptic output section 743 may operate to vibrate the steering wheel, the seat belt, and the seat so that the user can recognize the output.

The vehicle drive unit 750 can control the operation of various devices of the vehicle. The vehicle driving unit 750 can receive a control signal from the vehicle driving assist system 200. [ The vehicle drive unit 750 can control each device based on the control signal.

The vehicle driving unit 750 includes a power source driving unit 751, a steering driving unit 752, a brake driving unit 753, a lamp driving unit 754, an air conditioning driving unit 755, a window driving unit 756, an airbag driving unit 757, A driving unit 758 and a suspension driving unit 759.

The power source driving unit 751 can perform electronic control on the power source in the vehicle 700. [

For example, when the fossil fuel-based engine (not shown) is a power source, the power source drive unit 751 can perform electronic control on the engine. Thus, the output torque of the engine and the like can be controlled. When the power source driving unit 751 is an engine, the speed of the vehicle can be limited by limiting the engine output torque under the control of the ECU 770. [

As another example, when the electric motor (not shown) is a power source, the power source driving unit 751 can perform control on the motor. Thus, the rotation speed, torque, etc. of the motor can be controlled.

The power source driving section 751 can receive the acceleration control signal from the vehicle driving assist system 200. [ The power source driving unit 751 can control the power source in accordance with the received acceleration control signal.

The steering driver 752 may perform electronic control of the steering apparatus in the vehicle 700. [ Thus, the traveling direction of the vehicle can be changed. The steering driver 752 may receive the steering control signal from the vehicle driving assist system 200. [ The steering driver 752 can control the steering apparatus to steer according to the received steering control signal.

The brake driver 753 can perform electronic control of a brake apparatus (not shown) in the vehicle 700. [ For example, it is possible to reduce the speed of the vehicle 700 by controlling the operation of the brakes disposed on the wheels. As another example, it is possible to adjust the traveling direction of the vehicle 700 to the left or right by differently operating the brakes respectively disposed on the left wheel and the right wheel. The brake driver 753 can receive the deceleration control signal from the vehicle driving assist system 200. [ The brake driver 759 can control the brake device in accordance with the received deceleration control signal.

The lamp driver 754 can control the turn-on / turn-off of the lamps disposed inside and outside the vehicle. Also, the intensity, direction, etc. of the light of the lamp can be controlled. For example, it is possible to perform control on a direction indicating lamp, a brake lamp, and the like.

The air conditioning driving section 755 can perform electronic control on an air conditioner (not shown) in the vehicle 700. [ For example, when the temperature inside the vehicle is high, the air conditioner can be operated to control the cool air to be supplied to the inside of the vehicle.

The window driver 756 may perform electronic control of the window apparatus in the vehicle 700. [ For example, it is possible to control the opening or closing of the side of the vehicle with respect to the left and right windows.

The airbag driving unit 757 can perform electronic control of the airbag apparatus in the vehicle 700. [ For example, in case of danger, the airbag can be controlled to fire.

The sunroof driving unit 758 may perform electronic control of a sunroof apparatus (not shown) in the vehicle 700. [ For example, the opening or closing of the sunroof can be controlled.

The suspension driving unit 759 can perform electronic control on a suspension apparatus (not shown) in the vehicle 700. [ For example, when there is a curvature on the road surface, it is possible to control the suspension device so as to reduce the vibration of the vehicle 700. [ The suspension driving unit 759 can receive the suspension control signal from the vehicle driving assist system 200. [ The suspension driving unit 759 can control the suspension device according to the received suspension control signal.

The memory 730 is electrically connected to the ECU 770. The memory 730 may store basic data for the unit, control data for controlling the operation of the unit, and input / output data. The memory 730 can be, in hardware, various storage devices such as ROM, RAM, EPROM, flash drive, hard drive, and the like. The memory 730 may store various data for operation of the vehicle 700, such as a program for processing or controlling the ECU 770. [

The interface unit 780 may serve as a pathway to various kinds of external devices connected to the vehicle 700. For example, the interface unit 780 may include a port that can be connected to the mobile terminal 600, and may be connected to the mobile terminal 600 through the port. In this case, the interface unit 780 can exchange data with the mobile terminal 600.

Meanwhile, the interface unit 780 may serve as a channel for supplying electrical energy to the connected mobile terminal 600. The interface unit 780 provides electric energy supplied from the power supply unit 790 to the mobile terminal 600 under the control of the ECU 770 when the mobile terminal 600 is electrically connected to the interface unit 780 do.

The ECU 770 can control the overall operation of each unit in the vehicle 700. [ The ECU 770 may be referred to as an ECU (Electronic Control Unit).

The ECU 770 may be implemented in hardware as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs) processors, controllers, micro-controllers, microprocessors, and other electronic units for performing other functions.

The power supply unit 790 can supply power necessary for the operation of each component under the control of the ECU 770. [ Particularly, the power supply unit 770 can receive power from a battery (not shown) in the vehicle.

The vehicle driving assist system 200 can exchange data with the ECU 770. The control signal generated in the vehicle driving assist system 200 may be output to the ECU 770. [ The vehicle driving assist system 200 may be the vehicle driving assist system described above with reference to Figs.

The vehicle display device 400 can exchange data with the ECU 770. [ The ECU 770 can receive the navigation information from the vehicle display device 400 or a separate navigation device (not shown). Here, the navigation information may include set destination information, route information according to the destination, map information about the vehicle driving, or vehicle location information.

11 to 12 are drawings referred to explain the AEB of the vehicle driving assistance system according to the embodiment of the present invention.

11, the vehicle driving assist system 200 can acquire object information through the radar device 100. [

The objects 620a, 620b, 620c, and 620d may be obstacles located in front of the vehicle 700 in the AEB system. For example, the object may be another vehicle, a motorcycle or a pedestrian.

The object information includes relative distance information between the objects 620a, 620b, 620c and 620d and the vehicle 700, relative speed information between the objects 620a, 620b, 620c and 620d and the vehicle 700, 620b, 620c, and 620d.

The control unit 270 can calculate the time to collision (TTC) between the vehicle 700 and the objects 620a, 620b, 620c, and 620d based on the object information. Specifically, the control unit 270 divides the relative distances between the objects 620a, 620b, 620c, and 620d and the vehicle 700 by the relative speeds between the objects 620a, 620b, 620c, and 620d and the vehicle 700 The expected collision time can be calculated.

The controller 270 may provide a signal for controlling at least one of the steering driver 752 and the brake driver 753 according to the estimated collision time.

On the other hand, the radar device 100 can vary the cycle time based on the estimated collision time. Meanwhile, according to the embodiment, the radar apparatus 100 may vary the cycle time based on the object information obtained by itself, apart from the expected collision time provided by the control unit 270. [ For example, the radar device 100 may determine the relative distance information between the objects 620a, 620b, 620c and 620d and the vehicle 700, the relative distance information between the objects 620a, 620b, 620c and 620d, Based on the speed information, the cycle time can be varied.

On the other hand, the AEB can be divided into three stages based on the expected collision time. If the expected collision time is equal to or greater than the first reference value (the first step), the control unit 270 can output an alarm. If the expected collision time is between the first reference value and the second reference value (the second step), the control unit 270 outputs an alarm and can control the vehicle 700 to be partially braked. When the expected collision time is smaller than the second reference value (the third step), the control unit 270 can control the vehicle 700 to be fully braked.

For example, in the first step, the processor 180 of the radar apparatus 100 can control the cycle time to be 60 ms. In the second step, the processor 180 of the radar apparatus 100 can control the cycle time to be 40 ms. In the third step, the processor 170 of the radar apparatus 100 can control the cycle time to be 20 ms.

The processor 180 of the radar apparatus 100 can set the required relative distance range and relative speed range in accordance with the estimated collision time out of the total possible relative distance range and the entire relative speed range that can be calculated.

12 is a diagram referred to explain an operation of setting a required relative distance range and a relative speed range according to an expected collision time in an AEB system according to an embodiment of the present invention.

In FIG. 12, reference numeral 680 denotes a 2D FFT zone (Fast Fourier Transform zone). In the drawing, the horizontal axis represents the relative distance to the object, and the vertical axis represents the relative speed with the object.

In the figure, depending on the performance or set value of the radar device 100, the total range of relative distances that can be calculated is approximately 0 m to 200 m. Also, it is illustrated that the total relative speed range that can be calculated is approximately -100 km / h to 100 km / h.

For example, when the radar apparatus 100 is used in the AEB system, the processor 180 of the radar apparatus 100 may adjust the cycle time to any one of 60 ms, 40 ms, and 20 ms according to the estimated collision time.

For example, in the case of the first stage in the AEB system, the processor 180 of the radar apparatus 100 processes the data in the entire relative distance range that can be calculated so that the cycle time is 60 ms, and the entire relative speed range that can be calculated . In this case, the radar device 100 can detect the object within the set range and provide the object information.

For example, in the case of the second stage in the AEB system, the processor 170 of the radar apparatus 100 has a relative distance range of 10 m to 100 m and a relative speed range of -10 km / h To-80 km / h. In this case, the radar device 100 can detect the object within the set range and provide the object information.

For example, in the case of the third stage in the AEB system, the processor 170 of the radar device 100 has a relative distance range of 0 to 50 m, and a relative speed range of -50 km / h To -100 km / h. In this case, the radar device 100 can detect the object within the set range and provide the object information.

The processor 180 of the radar apparatus 100 can process the data in the set relative distance range and the set relative speed range to provide the object information.

By setting the relative distance range and the relative speed range in this manner and processing the data within the set range to provide the object information, the cycle time can be adjusted.

On the other hand, the processor 180 of the radar device 100 can control the number of antennas or the type of the antenna to receive the reception signal among the plurality of reception antennas to vary according to the expected collision time.

For example, in the case of the first stage in the AEB system, the processor 180 of the radar apparatus 100 includes an antenna (LRR: Long Range Radar) for receiving signals from a long distance and an antenna (SRR) may not be used. The processor 180 of the radar apparatus 100 may use only an antenna (MRR: Mid Range Radar) for receiving signals from a medium distance. In this case, the cycle time can be adjusted. If the first step in the AEB system, the object is at a medium distance. Therefore, it is effective to detect an object using a medium-range antenna rather than a far-field antenna and a near-field antenna.

For example, when the AEB system corresponds to step 2 or step 3, the processor 180 of the radar apparatus 100 receives an antenna (LRR: Long Range Radar) for receiving a signal from a long distance and a signal (MRR: Mid Range Radar) may not be used. The processor 180 of the radar apparatus 100 can use only an antenna (SRR: Short Range Radar) for receiving a signal from a short distance. In this case, the cycle time can be adjusted. If the AEB system corresponds to step 2 or step 3, the object is in close proximity. Therefore, it is effective to detect an object using a near-field antenna rather than a far-field antenna and a medium-distance antenna.

For example, in the case of the third stage in the AEB system, the processor 180 of the radar apparatus 100 selects only a part of an antenna (SRR: Short Range Radar) for receiving a signal from a plurality of short- Can be obtained. In the case of object detection located near, it is advantageous to prioritize the information processing speed over the accuracy of the information. Therefore, in an emergency situation, when detecting an object located in a short distance, only a part of an antenna (SRR: Short Range Radar) for receiving a signal from a plurality of short distances is selected to obtain a received signal, .

13 to 14 are drawings referred to explain ACC of a vehicle driving assistance system according to an embodiment of the present invention.

13, the vehicle driving assist system 200 can acquire object information through the radar device 100. [

The object 810 may be a preceding following vehicle in the ACC system.

The object information may include relative distance information between the object 810 and the vehicle 700, relative speed information between the object 810 and the vehicle 700, and direction information of the object 810.

The control unit 270 controls the power source drive unit 751, the steering drive unit 752, and the brake drive unit 753 to drive the vehicle 700 while keeping the distance from the follower vehicle constant, based on the object information Lt; RTI ID = 0.0 > a < / RTI >

The distance maintained with the following vehicle may be set by the vehicle manufacturer by default or may be set by the user.

On the other hand, the radar device 100 can vary the cycle time based on the distance maintained with the following vehicle. Meanwhile, according to the embodiment, the radar apparatus 100 can vary the cycle time based on the object information obtained by itself, apart from the distance from the follower vehicle provided by the control unit 270. [ For example, the radar apparatus 100 can vary the cycle time based on the relative distance information between the object 810 and the vehicle 700, and the relative speed information between the object 810 and the vehicle 700 have.

The processor 180 of the radar apparatus 100 can set the required relative distance range and relative speed range in accordance with the distance maintained with the following vehicle during traveling among the entire range of possible relative distances and the entire relative speed range that can be calculated.

14 is a diagram referred to explain an operation of setting a required relative distance range and a relative speed range according to a distance maintained with a following vehicle in an AEB system according to an embodiment of the present invention.

In FIG. 14, reference numeral 680 denotes a 2D FFT zone (Fast Fourier Transform zone). In the drawing, the horizontal axis represents the relative distance to the object, and the vertical axis represents the relative speed with the object.

In the figure, depending on the performance or set value of the radar device 100, the total range of relative distances that can be calculated is approximately 0 m to 200 m. Also, it is illustrated that the total relative speed range that can be calculated is approximately -100 km / h to 100 km / h.

For example, when the radar apparatus 100 is used in the ACC system, the processor 180 of the radar apparatus 100 can adjust the cycle time to 30 ms. The processor 180 of the radar apparatus 100 can process data in a range of relative distance range from 0 m to 200 m and a relative speed range from -30 km / h to 30 km / h so that the cycle time is 30 ms. In this case, the radar device 100 can detect the object within the set range and provide the object information.

The processor 180 of the radar apparatus 100 can process the data in a set distance range and a set relative speed range to provide object information.

By setting the relative distance range and the relative speed range in this manner and processing the data within the set range to provide the object information, the cycle time can be adjusted.

On the other hand, the processor 180 of the radar device 100 can control the number of antennas or the type of the antenna for receiving the reception signal among the plurality of reception antennas to be variable, according to the distance maintained with the following vehicle during running.

For example, in a case where the distance maintained with the following vehicle in the ACC system is 150 m or more, the processor 180 of the radar apparatus 100 may use an antenna (MRR: Mid Range Radar) It may not use an antenna (SRR: Short Range Radar) for reception. The processor 180 of the radar apparatus 100 may use only an antenna (LRR: Long Range Radar) for receiving a signal from a long distance distance. In this case, the cycle time can be adjusted.

For example, when the distance maintained between the ACC and the following vehicle is between 150m and 30m, the processor 180 of the radar device 100 may be configured to include an antenna (LRR: Long Range Radar) for receiving signals from a long distance and An antenna (SRR: Short Range Radar) for receiving a signal from a short distance may not be used. The radar apparatus 100 can use only an antenna (MRR: Mid Range Radar) for receiving signals from a medium distance. In this case, the cycle time can be adjusted.

For example, in a case where the distance maintained with the following vehicle in the ACC system is less than 30 meters, the processor 180 of the radar apparatus 100 may be configured to include a long range radar (LRR) for receiving signals from a long distance, (MRR: Mid Range Radar) may be used. The processor 180 of the radar apparatus 100 can use only an antenna (SRR: Short Range Radar) for receiving a signal from a short distance. In this case, the cycle time can be adjusted.

For example, in the ACC system, when the distance maintained with the following vehicle is between 150 m and 30 m, the processor 180 of the radar apparatus 100 may include an antenna (MRR: Mid Range Radar) for receiving signals from a plurality of middle distances, So that the received signal can be obtained.

15 to 16 are drawings referred to explain the CTA of the vehicle driving assistance system according to the embodiment of the present invention.

Referring to Fig. 15, the vehicle driving assist system 200 can acquire object information through the radar device 100. Fig.

The object 1010 may be another vehicle approaching from the side of the vehicle 700 in the CTA system.

The object information may include relative distance information between the object 1010 and the vehicle 700, relative speed information between the object 1010 and the vehicle 700, and direction information of the object 1010. [

The control unit 270 can calculate the time to collision (TTC) with the object 1010 based on the object information. More specifically, the control unit 270 can calculate the estimated collision time by dividing the relative distance between the object 1010 and the vehicle 700 by the relative speed between the object 1010 and the vehicle 700. [

The controller 270 can provide a signal for controlling at least one of the steering driver 752 and the brake driver 753 in accordance with the estimated collision time.

On the other hand, the radar device 100 can vary the cycle time based on the estimated collision time. Meanwhile, according to the embodiment, the radar apparatus 100 may vary the cycle time based on the object information obtained by itself, apart from the expected collision time provided by the control unit 270. [ For example, the radar apparatus 100 can vary the cycle time based on the relative distance information between the object 1010 and the vehicle 700, and the relative speed information between the object 1010 and the vehicle 700 have.

The processor 180 of the radar apparatus 100 can set the required relative distance range and relative speed range in accordance with the estimated collision time out of the total possible relative distance range and the entire relative speed range that can be calculated.

16 is a diagram referred to explain an operation of setting a required relative distance range and a relative speed range in accordance with an expected collision time in a CTA system according to an embodiment of the present invention.

In FIG. 16, reference numeral 680 denotes a 2D FFT zone (Fast Fourier Transform zone). In the drawing, the horizontal axis represents the relative distance to the object, and the vertical axis represents the relative speed with the object.

In the figure, depending on the performance or set value of the radar device 100, the total range of relative distances that can be calculated is approximately 0 m to 200 m. Also, it is illustrated that the total relative speed range that can be calculated is approximately -100 km / h to 100 km / h.

For example, when a radar device 100 is used in a CTA system, the processor 180 of the radar device 100 may adjust the cycle time to 20 ms. The processor 180 of the radar apparatus 100 can process data in a range of relative distance range from 0 m to 50 m and a relative speed range from -20 km / h to 20 km / h so that the cycle time is 20 ms. In this case, the radar device 100 can detect the object within the set range and provide the object information.

The processor 180 of the radar apparatus 100 can process the data in a set distance range and a set relative speed range to provide object information.

By setting the relative distance range and the relative speed range in this manner and processing the data within the set range to provide the object information, the cycle time can be adjusted.

On the other hand, the processor 180 of the radar device 100 can control the number of antennas or the type of the antenna to receive the reception signal among the plurality of reception antennas to vary according to the expected collision time.

For example, when the radar apparatus 100 is used in a CTA system, the processor 180 of the radar apparatus 100 may be configured to receive an antenna (LRR: Long Range Radar) for receiving a signal from a long distance, (MRR: Mid Range Radar) may not be used. The processor 180 of the radar apparatus 100 can use only an antenna (SRR: Short Range Radar) for receiving a signal from a short distance. In this case, the cycle time can be adjusted. This is because the CTA system operates mainly at close range.

For example, when the radar apparatus 100 is used in the CTA system, the processor 180 of the radar apparatus 100 selects only a part of antennas (SRR: short range radars) for receiving signals from a plurality of nearby stations It is possible to obtain a received signal. In the case of object detection located near, it is advantageous to prioritize the information processing speed over the accuracy of the information. Therefore, in an emergency situation, when detecting an object located in a short distance, only a part of an antenna (SRR: Short Range Radar) for receiving a signal from a plurality of short distances is selected to obtain a received signal, .

17 to 18 are drawings referred to explain the LCA of the vehicle driving assist system according to the embodiment of the present invention.

Referring to FIG. 17, the vehicle driving assistance system 200 can acquire object information through the radar device 100. FIG.

The object 1210 may be another vehicle running in the neighboring lane of the driving lane of the vehicle 700 in the LCA system.

The object information may include relative distance information between the object 1210 and the vehicle 700, relative speed information between the object 1210 and the vehicle 700, and direction information of the object 1210.

On the other hand, in order to use the radar apparatus 100 in the LCA system, the radar apparatus 100 may be disposed behind the vehicle. The radar device 100 is preferably disposed on the rear bumper of the vehicle.

The control unit 270 controls the power source drive unit 751, the steering drive unit 752 and the brake drive unit 753 so that the vehicle 700 changes lanes based on the object information when the relative distance to the other vehicle is equal to or greater than the reference value. And may provide a signal for controlling at least one of them.

On the other hand, the reference value may be set by the vehicle manufacturer by default or may be set by the user.

On the other hand, the radar apparatus 100 can vary the cycle time according to the relative distance with the other vehicle 1210. [ According to the embodiment, the radar apparatus 100 can vary the cycle time based on the object information obtained by itself, apart from the relative distance to the other vehicle 1210 provided by the control unit 270. [ For example, the radar apparatus 100 can vary the cycle time based on the relative distance information between the object 1210 and the vehicle 700, and the relative speed information between the object 1210 and the vehicle 700 have.

The processor 180 of the radar apparatus 100 can set the required relative distance range and relative speed range in accordance with the relative distance with the other vehicle 1210 out of the total possible relative distance range and the entire relative speed range.

18 is a diagram referred to explain the operation of setting the required relative distance range and relative speed range according to the distance from the other vehicle 1210 in the LCA system, according to an embodiment of the present invention.

In FIG. 18, a reference numeral 680 denotes a 2D FFT zone (Fast Fourier Transform zone). In the drawing, the horizontal axis represents the relative distance to the object, and the vertical axis represents the relative speed with the object.

In the figure, depending on the performance or set value of the radar device 100, the total range of relative distances that can be calculated is approximately 0 m to 200 m. Also, it is illustrated that the total relative speed range that can be calculated is approximately -100 km / h to 100 km / h.

For example, when the radar apparatus 100 is used in the LCA system, the processor 180 of the radar apparatus 100 can adjust the cycle time to 30 ms. The processor 180 of the radar device 100 can process data in a range of relative speeds ranging from -10 km / h to 10 km / h with a relative distance ranging from 0 m to 80 m such that the cycle time is 30 ms. In this case, the radar device 100 can detect the object within the set range and provide the object information.

The processor 180 of the radar apparatus 100 can process the data in a set distance range and a set relative speed range to provide object information.

By setting the relative distance range and the relative speed range in this manner and processing the data within the set range to provide the object information, the cycle time can be adjusted.

The processor 180 of the radar apparatus 100 can control the number of antennas or the type of the antenna for receiving the reception signal among the plurality of reception antennas to be variable according to the relative distance to the other vehicle 1210. [

For example, when the radar apparatus 100 is used in the LCA system, the processor 180 of the radar apparatus 100 may not use an antenna (LRR: Long Range Radar) for receiving a signal from a long distance . The processor 180 of the radar apparatus 100 may use an antenna (MRR: Mid Range Radar) for receiving a signal from a medium distance and an antenna (SRR: Short Range Radar) for receiving a signal from a nearby location. In this case, the cycle time can be adjusted.

For example, when the radar apparatus 100 is used in the LCA system, the processor 180 of the radar apparatus 100 may be an antenna (MRR: Mid Range Radar) for receiving signals from a plurality of middle distances, (SRR: Short Range Radar) for receiving a signal from the base station.

On the other hand, according to the embodiment, the processor 180 of the radar apparatus 100 can vary the cycle time only when the turn signal signal is received during traveling. The LCA system assists the lane change and is preferably operated only when the turn signal signal is inputted during running. The turn signal signal may be provided from the ECU 770 to the radar apparatus 100 through the interface unit 150. [

The present invention described above can be embodied as computer-readable codes on a medium on which a program is recorded. The computer readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of the computer readable medium include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, , And may also be implemented in the form of a carrier wave (e.g., transmission over the Internet). In addition, the computer may include a processor 180 or an ECU 770. [ Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

100: Radar device
200: Vehicle driving assist system
700: vehicle

Claims (20)

A transmission unit for transmitting a transmission signal;
A reception unit for acquiring a reception signal in which the transmission signal is reflected on an object; And
During the first cycle time, detecting the object based on the received signal,
The second cycle time after the first cycle time is reduced or increased in accordance with the object detection purpose, the relative distance to the object, and the relative speed with the object,
And a processor for providing information of the object obtained during the second cycle time,
The processor comprising:
During the second cycle time,
A transmitting unit that transmits a transmission signal, acquires a reception signal through the reception unit, processes the reception signal to generate information of the object, provides the generated object information to an electrically connected device,
The object of detection may be,
Adaptive Cruise Control (ACC), Cross Traffic Alert (CTA), Lane Change Assistant (LCA), Automated Emergency Braking (AEB) Wherein the information is determined according to whether the information of the object is used in any one of an AES (Autonomous Emergency Steering) and a Traffic Jam Assist (TJA) system. delete delete The method according to claim 1,
The processor comprising:
A relative distance range and a relative speed range are set on the basis of the total object distance range and the total relative speed range that can be calculated based on the object detection purpose and the data is processed in the set relative distance range and the set relative speed range, A vehicle radar device for providing information. The method according to claim 1,
Wherein the receiving unit includes a plurality of receiving antennas,
The processor comprising:
And controls the number of antennas or the type of the antenna for receiving the reception signal among the plurality of reception antennas to be variable according to the object detection purpose. The method according to claim 1,
Wherein the information of the object includes:
Relative distance information with respect to the object, relative speed information with respect to the object, and direction information of the object. A vehicle radar device for providing information of an object; And
And a control unit for receiving the information of the object and providing a signal for controlling at least one of the power source driving unit, the steering driving unit, and the brake driving unit, or for outputting an alarm,
The vehicular radar device includes:
A transmission unit for transmitting a transmission signal;
A reception unit for acquiring a reception signal in which the transmission signal is reflected on an object; And
Detecting the object based on the received signal during a first cycle time,
The second cycle time after the first cycle time is reduced or increased in accordance with the object detection purpose, the relative distance to the object, and the relative speed with the object,
And a processor for providing information of the object obtained during the second cycle time,
The processor comprising:
During the second cycle time,
A transmitting unit that transmits a transmission signal, acquires a reception signal through the reception unit, processes the reception signal to generate information of the object, provides the generated object information to an electrically connected device,
The object of detection may be,
Adaptive Cruise Control (ACC), Cross Traffic Alert (CTA), Lane Change Assistant (LCA), Automated Emergency Braking (AEB) (AES) and a traffic jam assist (TJA) system according to which the information of the object is used. 8. The method of claim 7,
The object is an obstacle located in front of the child vehicle,
Wherein,
Calculates an expected collision time between the vehicle and the object based on the information of the object,
And provides a signal for controlling any one of the steering driver and the brake driver according to the expected collision time. 9. The method of claim 8,
The vehicular radar device includes:
Sets a relative distance range and a relative speed range on the basis of the predicted collision time out of the total possible relative distance range and the entire relative speed range that can be calculated, processes the data in the set relative distance range and the set relative speed range, The vehicle driving assist system comprising: 9. The method of claim 8,
Wherein the radar device includes a plurality of reception antennas,
The vehicular radar device includes:
And controls the number of antennas or the type of the antenna for receiving the reception signal among the plurality of reception antennas to be variable according to the expected collision time. 8. The method of claim 7,
The object is a following vehicle,
Wherein,
And provides a signal for controlling at least one of the power source drive section, the steering drive section, and the brake drive section so that the subject vehicle travels while maintaining a constant distance from the preceding vehicle based on the information of the object. 12. The method of claim 11,
The vehicular radar device includes:
A relative distance range and a relative speed range are set based on the total distance range that can be calculated and the total relative speed range during driving and the distance maintained with the following vehicle during running, And provides the information of the object. 12. The method of claim 11,
Wherein the radar device includes a plurality of reception antennas,
The vehicular radar device includes:
And controls the number of antennas or the type of the antenna to be varied in accordance with a distance maintained with the following vehicle during traveling. 8. The method of claim 7,
The object is another vehicle approaching from the side,
Wherein,
Calculates an expected collision time between the vehicle and the object based on the information of the object,
And provides a signal for controlling at least one of the power source driving unit, the steering driving unit, and the brake driving unit in accordance with the expected collision time. 15. The method of claim 14,
The vehicular radar device includes:
Sets a relative distance range and a relative speed range on the basis of the predicted collision time out of the total possible relative distance range and the entire relative speed range that can be calculated, processes the data in the set relative distance range and the set relative speed range, The vehicle driving assist system comprising: 15. The method of claim 14,
Wherein the radar device includes a plurality of reception antennas,
The vehicular radar device includes:
And controls the number of antennas or the type of the antenna for receiving the reception signal among the plurality of reception antennas to be variable according to the expected collision time. 8. The method of claim 7,
The object is an oncoming vehicle in a neighboring lane of the driving lane of the subject vehicle,
Wherein,
A vehicle driving assist system that provides a signal for controlling at least one of a power source driving unit, a steering driving unit, and a brake driving unit so that the subject vehicle changes lanes when the relative distance with the other vehicle is equal to or greater than a predetermined distance, system. 18. The method of claim 17,
The vehicular radar device includes:
Sets a relative distance range and a relative speed range on the basis of a relative distance with respect to the other vehicle out of the total possible relative distance range and the entire relative speed range that can be calculated, processes the data in a set relative distance range, A vehicle driving assistance system that provides information about an object. 18. The method of claim 17,
Wherein the radar device includes a plurality of reception antennas,
The vehicular radar device includes:
And controls the number of antennas or the type of the antenna for receiving the reception signal among the plurality of reception antennas to be variable according to a relative distance to the other vehicle. A vehicle including the radar device for a vehicle according to any one of claims 1 to 6.

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